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README.txt
==========
This is the README file for the port of NuttX to the Freescale Kinetis
TWR-K64F120M. Refer to the Freescale web site for further information
about this part:
www.nxp.com/products/sensors/accelerometers/3-axis-accelerometers/kinetis-k64-mcu-tower-system-module:TWR-K64F120M
The board may be complemented by TWR-SER which includes (among other things), an RS232 and Ethernet connections:
http://www.nxp.com/pages/serial-usb-ethernet-can-rs232-485-tower-system-module:TWR-SER
Contents
========
o Kinetis TWR-K64F120M Features
o Kinetis TWR-K64F120M Pin Configuration
- On-Board Connections
- Connections via the General Purpose Tower Plug-in (TWRPI) Socket
- Connections via the Tower Primary Connector Side A
- Connections via the Tower Primary Connector Side B
- TWR-SER Serial Board Connection
o LEDs
o Development Environment
o GNU Toolchain Options
o IDEs
o NuttX EABI "buildroot" Toolchain
o NuttX OABI "buildroot" Toolchain
o NXFLAT Toolchain
Kinetis TWR-K64F120M Features:
=============================
o K64N1M in 144 MAPBGA, MK64FN1M0VMD12
o Integrated, Open-SDA serial, flash and debug through USB
o SD Card Slot
o MMA7660 3-axis accelerometer
o Tower Plug-In (TWRPI) Socket for expansion (sensors, etc.)
o Touch TWRPI Socket adds support for various capacitive touch boards
(e.g. keypads, rotary dials, sliders, etc.)
o Tower connectivity for access to USB, Ethernet, RS232/RS485, CAN, SPI,
I²C, Flexbus, etc.
o Plus: Potentiometer, 4 LEDs, 2 pushbuttons, accelerometer, RTC battery
Kinetis TWR-K64F120M Pin Configuration
======================================
On-Board Connections
-------------------- ------------------------- -------- -------------------
FEATURE CONNECTION PORT/PIN PIN FUNCTION
-------------------- ------------------------- -------- -------------------
OSJTAG USB-to-serial OSJTAG Bridge RX Data PTC3 UART1_RX
Bridge OSJTAG Bridge TX Data PTC4 UART1_TX
SD Card Slot SD Clock PTE2 SDHC0_DCLK
SD Command PTE3 SDHC0_CMD
SD Data0 PTE1 SDHC0_D0
SD Data1 PTE0 SDHC0_D1
SD Data2 PTE5 SDHC0_D2
SD Data3 PTE4 SDHC0_D3
SD Card Detect PTB20 PTB20
SD Write Protect PTB21 PTB21
Micro-USB K64_MICRO_USB_DN USB0_DN
K64_MICRO_USB_DP USB0_DP
K64_USB_ID_J PTE12
K64_USB_FLGA PTC8
K64_USB_ENABLE PTC9
Pushbuttons SW1 (LLWU_P10) PTC6 PTC6
SW2 (RSTIN_B_R) RSTIN RESET
SW3 (NMI B) PTA4 PTA4
LEDs D5 / Green LED PTE6 PTE6
D6 / Yellow LED PTE7 PTE7
D7 / Orange LED PTE8 PTE8
D9 / Blue LED PTE9 PTE9
Potentiometer Potentiometer (R526) ? ADC1_SE18
Accelerometer I2C SDA PTC11 I2C1_SDA
I2C SCL PTC10 I2C1_SCL
INT1 PTA6 PTA6
INT2 PTA8 PTA8
SDHC important notice: on TWR-K64F120M, R521 (close to the SD card holder) is not placed,
hence WRPROTEC is always ON. Either place a 4.7KOhm resistor or change PIN config
to PULLDOWN, loosing Write Protect function. See twrk64.h.
Connections via the General Purpose Tower Plug-in (TWRPI) Socket
-------------------- ------------------------- -------- -------------------
FEATURE CONNECTION PORT/PIN PIN FUNCTION
-------------------- ------------------------- -------- -------------------
General Purpose TWRPI ADC0 (J4 Pin 8) ? ADC1_SE16/ADC0_SE22
TWRPI Socket TWRPI_ADC1 (J4 Pin 9) ? ADC0_SE16/ADC0_SE21
TWRPI_ADC2 (J4 Pin 12) ? ADC1_DP0/ADC0_DP3
TWRPI_ID0 (J4 Pin 17) ? ADC0_DP0/AD1_DP3
TWRPI_ID1 (J4 Pin 18) ? ADC0_DM0/ADC1_DM3
TWRPI I2C SCL (J3 Pin 3) PTC10 I2C1_SCL
TWRPI I2C SDA (J3 Pin 4) PTC11 I2C1_SDA
SPI1_SOUT (J3 Pin 10) PTB16 ?
SPI1_PCS0 (J3 Pin 11) PTB10 PTB10
SPI1_SCK (J3 Pin 12) PTB11 ?
TWRPI_GPIO0 (J3 Pin 15) PTB3 PTB3
TWRPI GPIO1 (J3 Pin 16) PTC0 PTC0
TWRPI GPIO2 (J3 Pin 17) PTC16 PTC16
TWRPI GPIO3 (J3 Pin 18) PTC17 PTC17
TWRPI GPIO4 (J3 Pin 19) PTC18 PTC18
TWRPI GPIO5 (J3 Pin 20) PTC19 PTC19
The TWR-K64F120M features two expansion card-edge connectors that interface
to the Primary and Secondary Elevator boards in a Tower system. The Primary
Connector (comprised of sides A and B) is identified by a white strip.
The Secondary Connector is comprised of sides C and D.
TWR-SER Serial Board Connection
===============================
The serial board connects into the tower and then maps to the tower pins to
yet other functions (see TWR-SER-SCH.pdf).
In particular it features an Ethernet port.
Networking Support
==================
U2 is a 25 MHz oscillator (which may be disabled by setting J4), which clock is sent to U1.
U1 has two clock output banks: 25MHz (CLKBx) and 50MHz (CLKAx).
J2 (ser board) is used to select the PHY clock source: 50MHz, 25MHz or CLCKOUT0 from K64. Set it to 25MHz.
In order to keep synchornized the PHY clock with the K64 clock, one can set J3 (default is open)
to route CLOCKIN0 either from 25MHz or 50Mhz lines. In that case, J33 (main board) will have to be removed
and J32 (main board set) set to disable its 50MHz_OSC and use CLKIN0 provided by ser board.
J12 is by default set to RMII mode. In this case J2 should be placed to 50MHz clock
Note that in MII mode, MII0_TXER is required by kinetis driver, but not connected on ser board
Ethernet MAC/KSZ8041NL PHY
--------------------------
------------ ---------------------------------------------------------- ------------------------------ -------------------------------
KSZ8041 TWR Board Signal(s) K64F Pin Pin name
Pin Signal Function MII RMII
--- -------- ---------------------------------------------------------- ------------------------------ -------------------------------
9 REFCLK CLK_SEL J2: CLOCKOUT0/25MHz/50MHz, PHY clock input PTC3/CLKOUT --- direct to PHY
11 MDIO FEC_MDIO PTB0/RMII0_MDIO/MII0_MDIO PIN_MII0_MDIO PIN_RMII0_MDIO
12 MDC FEC_MDC PTB1/RMII0_MDC/MII0_MDC PIN_MII0_MDC PIN_RMII0_MDC
13 PHYAD0 FEC_RXD3 J12: PHY Adress select (pull-down if set) PTA9/MII0_RXD3 PIN_RMII0_RXD3 ---
14 PHYAD1 FEC_RXD2 J12: PHY Adress select (pull-up if set) PTA10/MII0_RXD2 PIN_RMII0_RXD2 ---
15 PHYAD2 FEC_RXD1 J12: PHY Adress select (pull-up if set) PTA12/RMII0_RXD1/MII0_RXD1 PIN_MII0_RXD1 PIN_RMII0_RXD1
16 DUPLEX FEC_RXD0 J12: Half-duplex (pull-down if set) PTA13/RMII0_RXD0/MII0_RXD0 PIN_MII0_RXD0 PIN_RMII0_RXD0
18 CONFIG2 FEC_RXDV J12: Loopback select (pull-up if set) PTA14/RMII0_CRS_DV/MII0_RXDV PIN_MII0_RXDV PIN_RMII0_CRS_DV
19 RXC FEC_RXCLK PTA11/MII0_RXCLK PIN_MII0_RXCLK ---
20 ISO FEC_RXER J12: Isolation mode select (pull-up if set) PTA5/RMII0_RXER/MII0_RXER PIN_MII_RXER PIN_RMII_RXER
22 TXC FEC_TXCLK PTA25/MII0_TXCLK PIN_MII0_TXCLK ---
23 TXEN FEC_TXEN PTA15/RMII0_TXEN/MII0_TXEN PIN_MII0_TXEN PIN_RMII0_TXEN
24 TXD0 FEC_TXD0 PTA16/RMII0_TXD0/MII0_TXD0 PIN_MII0_TXD0 PIN_RMII0_TXD0
25 TXD1 FEC_TXD1 PTA17/RMII0_TXD1/MII0_TXD1 PIN_MII0_TXD1 PIN_RMII0_TXD1
26 TXD2 FEC_TXD2 PTA24/MII0_TXD2 PIN_MII0_TXD2 ---
27 TXD3 FEC_TXD3 PTA26/MII0_TXD3 PIN_MII0_TXD3 ---
28 CONFIG0 FEC_COL J12: RMII select (pull-up if set) PTA29/MII0_COL PIN_MII0_COL ---
29 CONFIG1 FEC_CRS PTA27/MII0_CRS PIN_MII0_CRS ---
30 LED0 LED0/NWAYEN J12: Disable auto_negotiation (pull-down if s --- ---
31 LED1 LED1/SPEED J12: 10Mbps select (pull-down if set) --- ---
--- -------- ----------------- ---------------------------------------- ------------------------------ -------------------------------
Networking support can be added to NSH by selecting the following
configuration options.
Selecting the MAC peripheral
----------------------------
System Type -> Kinetis Peripheral Support
CONFIG_KINETIS_ENET=y : Enable the Ethernet MAC peripheral
System Type -> Ethernet Configuration
CONFIG_KINETIS_ENETNETHIFS=1
CONFIG_KINETIS_ENETNRXBUFFERS=6
CONFIG_KINETIS_ENETNTXBUFFERS=2
CONFIG_KINETIS_ENET_MDIOPULLUP=y
Networking Support
CONFIG_NET=y : Enable Neworking
CONFIG_NET_ETHERNET=y : Support Ethernet data link
CONFIG_NET_SOCKOPTS=y : Enable socket operations
CONFIG_NET_ETH_MTU=590 : Maximum packet size (MTU) 1518 is more standard
CONFIG_NET_ETH_TCP_RECVWNDO=536 : Should be the same as CONFIG_NET_ETH_MTU
CONFIG_NET_ARP=y : Enable ARP
CONFIG_NET_ARPTAB_SIZE=16 : ARP table size
CONFIG_NET_ARP_IPIN=y : Enable ARP address harvesting
CONFIG_NET_ARP_SEND=y : Send ARP request before sending data
CONFIG_NET_TCP=y : Enable TCP/IP networking
CONFIG_NET_TCP_READAHEAD=y : Support TCP read-ahead
CONFIG_NET_TCP_WRITE_BUFFERS=y : Support TCP write-buffering
CONFIG_NET_TCPBACKLOG=y : Support TCP/IP backlog
CONFIG_NET_MAX_LISTENPORTS=20 :
CONFIG_NET_TCP_READAHEAD_BUFSIZE=536 Read-ahead buffer size
CONFIG_NET_UDP=y : Enable UDP networking
CONFIG_NET_BROADCAST=y : Needed for DNS name resolution
CONFIG_NET_ICMP=y : Enable ICMP networking
CONFIG_NET_ICMP_PING=y : Needed for NSH ping command
: Defaults should be okay for other options
Application Configuration -> Network Utilities
CONFIG_NETDB_DNSCLIENT=y : Enable host address resolution
CONFIG_NETUTILS_TELNETD=y : Enable the Telnet daemon
CONFIG_NETUTILS_TFTPC=y : Enable TFTP data file transfers for get and put commands
CONFIG_NETUTILS_NETLIB=y : Network library support is needed
CONFIG_NETUTILS_WEBCLIENT=y : Needed for wget support
: Defaults should be okay for other options
Application Configuration -> NSH Library
CONFIG_NSH_TELNET=y : Enable NSH session via Telnet
CONFIG_NSH_IPADDR=0xc0a800e9 : Select a fixed IP address
CONFIG_NSH_DRIPADDR=0xc0a800fe : IP address of gateway/host PC
CONFIG_NSH_NETMASK=0xffffff00 : Netmask
CONFIG_NSH_NOMAC=y : Need to make up a bogus MAC address
: Defaults should be okay for other options
You can also enable enable the DHCPC client for networks that use
dynamically assigned address:
Application Configuration -> Network Utilities
CONFIG_NETUTILS_DHCPC=y : Enables the DHCP client
Networking Support
CONFIG_NET_UDP=y : Depends on broadcast UDP
Application Configuration -> NSH Library
CONFIG_NET_BROADCAST=y
CONFIG_NSH_DHCPC=y : Tells NSH to use DHCPC, not
: the fixed addresses
Using the network with NSH
--------------------------
So what can you do with this networking support? First you see that
NSH has several new network related commands:
ifconfig, ifdown, ifup: Commands to help manage your network
get and put: TFTP file transfers
wget: HTML file transfers
ping: Check for access to peers on the network
Telnet console: You can access the NSH remotely via telnet.
You can also enable other add on features like full FTP or a Web
Server or XML RPC and others. There are also other features that
you can enable like DHCP client (or server) or network name
resolution.
By default, the IP address of the DK-TM4C129X will be 192.168.0.233 and
it will assume that your host is the gateway and has the IP address
192.168.0.254.
nsh> ifconfig
eth0 Link encap:Ethernet HWaddr 16:03:60:0f:00:33 at UP
inet addr:192.168.0.233 DRaddr:192.168.0.254 Mask:255.255.255.
You can use ping to test for connectivity to the host (Careful,
Window firewalls usually block ping-related ICMP traffic).
On the host PC side, you may be able to ping the TWR-K64F120M:
$ ping 192.168.0.233
PING 192.168.0.233 (192.168.0.233) 56(84) bytes of data.
64 bytes from 192.168.0.233: icmp_seq=1 ttl=64 time=7.82 ms
64 bytes from 192.168.0.233: icmp_seq=2 ttl=64 time=4.50 ms
64 bytes from 192.168.0.233: icmp_seq=3 ttl=64 time=2.04 ms
^C
--- 192.168.0.233 ping statistics ---
3 packets transmitted, 3 received, 0% packet loss, time 2003ms
rtt min/avg/max/mdev = 2.040/4.789/7.822/2.369 ms
From the target side, you may should also be able to ping the host
(assuming it's IP is 192.168.0.1):
nsh> ping 192.168.0.1
PING 192.168.0.1 56 bytes of data
56 bytes from 192.168.0.1: icmp_seq=1 time=0 ms
56 bytes from 192.168.0.1: icmp_seq=2 time=0 ms
56 bytes from 192.168.0.1: icmp_seq=3 time=0 ms
56 bytes from 192.168.0.1: icmp_seq=4 time=0 ms
56 bytes from 192.168.0.1: icmp_seq=5 time=0 ms
56 bytes from 192.168.0.1: icmp_seq=6 time=0 ms
56 bytes from 192.168.0.1: icmp_seq=7 time=0 ms
56 bytes from 192.168.0.1: icmp_seq=8 time=0 ms
56 bytes from 192.168.0.1: icmp_seq=9 time=0 ms
56 bytes from 192.168.0.1: icmp_seq=10 time=0 ms
10 packets transmitted, 10 received, 0% packet loss, time 10100 ms
nsh>
You can also log into the NSH from the host PC like this:
$ telnet 192.168.0.233
Trying 192.168.0.233...
Connected to 192.168.0.233.
Escape character is '^]'.
NuttShell (NSH)
nsh>
NOTE: If you enable this networking as described above, you will
experience a delay on booting NSH. That is because the start-up logic
waits for the network connection to be established before starting
NuttX. In a real application, you would probably want to do the
network bringup on a separate thread so that access to the NSH prompt
is not delayed.
The kinetis_enet.c driver, does not wait too long for PHY to negotiate
the link speed. In this case it folds back to 10Mbs half-duplex
mode. This behaviour should be improved in order to cope with the
plug and play nature of this port.
Reconfiguring after the network becomes available requires the
network monitor feature, also discussed below.
Network Initialization Thread
-----------------------------
[not tested on K64F120M]
There is a configuration option enabled by CONFIG_NSH_NETINIT_THREAD
that will do the NSH network bring-up asynchronously in parallel on
a separate thread. This eliminates the (visible) networking delay
altogether. This current implementation, however, has some limitations:
- If no network is connected, the network bring-up will fail and
the network initialization thread will simply exit. There are no
retries and no mechanism to know if the network initialization was
successful (it could perform a network Ioctl to see if the link is
up and it now, keep trying, but it does not do that now).
- Furthermore, there is currently no support for detecting loss of
network connection and recovery of the connection (similarly, this
thread could poll periodically for network status, but does not).
Both of these shortcomings could be eliminated by enabling the network
monitor:
Network Monitor
---------------
By default the network initialization thread will bring-up the network
then exit, freeing all of the resources that it required. This is a
good behavior for systems with limited memory.
If the CONFIG_NSH_NETINIT_MONITOR option is selected, however, then the
network initialization thread will persist forever; it will monitor the
network status. In the event that the network goes down (for example, if
a cable is removed), then the thread will monitor the link status and
attempt to bring the network back up. In this case the resources
required for network initialization are never released.
Pre-requisites:
- CONFIG_NSH_NETINIT_THREAD as described above.
- The K64F EMAC block does not support PHY interrupts. The KSZ8081
PHY interrupt line is brought to a jumper block and it should be
possible to connect that some some interrupt port pin. You would
need to provide some custom logic in the Freedcom K64F
configuration to set up that PHY interrupt.
- In addtion to the PHY interrupt, the Network Monitor also requires the
following setting:
CONFIG_NETDEV_PHY_IOCTL. Enable PHY IOCTL commands in the Ethernet
device driver. Special IOCTL commands must be provided by the Ethernet
driver to support certain PHY operations that will be needed for link
management. There operations are not complex and are implemented for
the Atmel SAMA5 family.
CONFIG_ARCH_PHY_INTERRUPT. This is not a user selectable option.
Rather, it is set when you select a board that supports PHY
interrupts. For the K64F, like most other architectures, the PHY
interrupt must be provided via some board-specific GPIO. In any
event, the board-specific logic must provide support for the PHY
interrupt. To do this, the board logic must do two things: (1) It
must provide the function arch_phy_irq() as described and prototyped
in the nuttx/include/nuttx/arch.h, and (2) it must select
CONFIG_ARCH_PHY_INTERRUPT in the board configuration file to
advertise that it supports arch_phy_irq().
And a few other things: UDP support is required (CONFIG_NET_UDP) and
signals must not be disabled (CONFIG_DISABLE_SIGNALS).
Given those prerequisites, the network monitor can be selected with these
additional settings.
System Type -> Kinetis Ethernet Configuration
CONFIG_ARCH_PHY_INTERRUPT=y : (auto-selected)
CONFIG_NETDEV_PHY_IOCTL=y : (auto-selected)
Application Configuration -> NSH Library -> Networking Configuration
CONFIG_NSH_NETINIT_THREAD : Enable the network initialization thread
CONFIG_NSH_NETINIT_MONITOR=y : Enable the network monitor
CONFIG_NSH_NETINIT_RETRYMSEC=2000 : Configure the network monitor as you like
CONFIG_NSH_NETINIT_SIGNO=18
LEDs
====
The TWR-K64F120M board has four LEDs labeled D5, D6, D7, D9 on the board. Usage of
these LEDs is defined in include/board.h and src/up_leds.c. They are encoded
as follows:
SYMBOL Meaning LED1* LED2 LED3 LED4
------------------- ----------------------- ------- ------- ------- ------
LED_STARTED NuttX has been started OFF OFF OFF N/A
LED_HEAPALLOCATE Heap has been allocated OFF OFF OFF N/A
LED_IRQSENABLED Interrupts enabled OFF OFF OFF N/A
LED_STACKCREATED Idle stack created ON OFF OFF N/A
LED_INIRQ In an interrupt** N/C ON N/C N/A
LED_SIGNAL In a signal handler*** N/C N/C ON N/A
LED_ASSERTION An assertion failed ON ON ON N/A
LED_PANIC The system has crashed Blink N/C N/C N/A
LED_IDLE K64 is is sleep mode (Optional, not used)
* If LED1, LED2, LED3 are statically on, then NuttX probably failed to boot
and these LEDs will give you some indication of where the failure was
** The normal state is LED1 ON and LED2 faintly glowing. This faint glow
is because of timer interrupts and signal that result in the LED being
illuminated on a small proportion of the time.
*** LED3 may even glow faintlier then LED2 while signals are processed.
Development Environment
=======================
Either Linux or Cygwin on Windows can be used for the development environment.
The source has been built only using the GNU toolchain (see below). Other
toolchains will likely cause problems. Testing was performed using the Linux
environment.
GNU Toolchain Options
=====================
The NuttX make system has been modified to support the following different
toolchain options.
1. The CodeSourcery GNU toolchain,
2. The devkitARM GNU toolchain,
3. The NuttX buildroot Toolchain (see below).
All testing has been conducted using the CodeSourcery Windows toolchain. To
use the devkitARM or the NuttX GNU toolchain, you simply need to change the
the following configuration options to your .config (or defconfig) file:
CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYW=y : CodeSourcery under Windows
CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYL=y : CodeSourcery under Linux
CONFIG_ARMV7M_TOOLCHAIN_IARL=y : IAR
CONFIG_ARMV7M_TOOLCHAIN_DEVKITARM=y : devkitARM under Windows
CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT=y : NuttX buildroot under Linux or Cygwin
CONFIG_ARMV7M_TOOLCHAIN_GNU_EABIL=y : GCC (default)
If you are not using CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT, then you may also have to modify
the PATH in the setenv.h file if your make cannot find the tools.
NOTE: the CodeSourcery (for Windows) and devkitARM toolchains are
Windows native toolchains. The CodeSourcey (for Linux) and NuttX buildroot
toolchains are Cygwin and/or Linux native toolchains. There are several limitations
to using a Windows based toolchain in a Cygwin environment. The three biggest are:
1. The Windows toolchain cannot follow Cygwin paths. Path conversions are
performed automatically in the Cygwin makefiles using the 'cygpath' utility
but you might easily find some new path problems. If so, check out 'cygpath -w'
2. Windows toolchains cannot follow Cygwin symbolic links. Many symbolic links
are used in Nuttx (e.g., include/arch). The make system works around these
problems for the Windows tools by copying directories instead of linking them.
But this can also cause some confusion for you: For example, you may edit
a file in a "linked" directory and find that your changes had no effect.
That is because you are building the copy of the file in the "fake" symbolic
directory. If you use a Windows toolchain, you should get in the habit of
making like this:
make clean_context all
An alias in your .bashrc file might make that less painful.
NOTE 1: The CodeSourcery toolchain (2009q1) does not work with default optimization
level of -Os (See Make.defs). It will work with -O0, -O1, or -O2, but not with
-Os.
NOTE 2: The devkitARM toolchain includes a version of MSYS make. Make sure that
the paths to Cygwin's /bin and /usr/bin directories appear BEFORE the devkitARM
path or will get the wrong version of make.
IDEs
====
NuttX is built using command-line make. It can be used with an IDE, but some
effort will be required to create the project.
Makefile Build
--------------
Under Eclipse, it is pretty easy to set up an "empty makefile project" and
simply use the NuttX makefile to build the system. That is almost for free
under Linux. Under Windows, you will need to set up the "Cygwin GCC" empty
makefile project in order to work with Windows (Google for "Eclipse Cygwin" -
there is a lot of help on the internet).
Native Build
------------
Here are a few tips before you start that effort:
1) Select the toolchain that you will be using in your .config file
2) Start the NuttX build at least one time from the Cygwin command line
before trying to create your project. This is necessary to create
certain auto-generated files and directories that will be needed.
3) Set up include pathes: You will need include/, arch/arm/src/k40,
arch/arm/src/common, arch/arm/src/armv7-m, and sched/.
4) All assembly files need to have the definition option -D __ASSEMBLY__
on the command line.
Startup files will probably cause you some headaches. The NuttX startup file
is arch/arm/src/kinetis/k40_vectors.S.
NuttX EABI "buildroot" Toolchain
================================
A GNU GCC-based toolchain is assumed. The files */setenv.sh should
be modified to point to the correct path to the Cortex-M4 GCC toolchain (if
different from the default in your PATH variable).
If you have no Cortex-M4 toolchain, one can be downloaded from the NuttX
Bitbucket download site (https://bitbucket.org/nuttx/buildroot/downloads/).
This GNU toolchain builds and executes in the Linux or Cygwin environment.
NOTE: The NuttX toolchain may not include optimizations for Cortex-M4 (ARMv7E-M).
1. You must have already configured Nuttx in <some-dir>/nuttx.
cd tools
./configure.sh twr-k64f120m/<sub-dir>
2. Download the latest buildroot package into <some-dir>
3. unpack the buildroot tarball. The resulting directory may
have versioning information on it like buildroot-x.y.z. If so,
rename <some-dir>/buildroot-x.y.z to <some-dir>/buildroot.
4. cd <some-dir>/buildroot
5. cp configs/cortexm3-eabi-defconfig-4.6.3 .config
6. make oldconfig
7. make
8. Edit setenv.h, if necessary, so that the PATH variable includes
the path to the newly built binaries.
See the file configs/README.txt in the buildroot source tree. That has more
details PLUS some special instructions that you will need to follow if you are
building a Cortex-M4 toolchain for Cygwin under Windows.
NOTE: Unfortunately, the 4.6.3 EABI toolchain is not compatible with the
the NXFLAT tools. See the top-level TODO file (under "Binary loaders") for
more information about this problem. If you plan to use NXFLAT, please do not
use the GCC 4.6.3 EABI toochain; instead use the GCC 4.3.3 OABI toolchain.
See instructions below.
NuttX OABI "buildroot" Toolchain
================================
The older, OABI buildroot toolchain is also available. To use the OABI
toolchain:
1. When building the buildroot toolchain, either (1) modify the cortexm3-eabi-defconfig-4.6.3
configuration to use EABI (using 'make menuconfig'), or (2) use an exising OABI
configuration such as cortexm3-defconfig-4.3.3
2. Modify the Make.defs file to use the OABI conventions:
+CROSSDEV = arm-nuttx-elf-
+ARCHCPUFLAGS = -mtune=cortex-m3 -march=armv7-m -mfloat-abi=soft
+NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat-gotoff.ld -no-check-sections
-CROSSDEV = arm-nuttx-eabi-
-ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft
-NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat-pcrel.ld -no-check-sections
NXFLAT Toolchain
================
If you are *not* using the NuttX buildroot toolchain and you want to use
the NXFLAT tools, then you will still have to build a portion of the buildroot
tools -- just the NXFLAT tools. The buildroot with the NXFLAT tools can
be downloaded from the NuttX Bitbucket download site
(https://bitbucket.org/nuttx/nuttx/downloads/).
This GNU toolchain builds and executes in the Linux or Cygwin environment.
1. You must have already configured Nuttx in <some-dir>/nuttx.
cd tools
./configure.sh lpcxpresso-lpc1768/<sub-dir>
2. Download the latest buildroot package into <some-dir>
3. unpack the buildroot tarball. The resulting directory may
have versioning information on it like buildroot-x.y.z. If so,
rename <some-dir>/buildroot-x.y.z to <some-dir>/buildroot.
4. cd <some-dir>/buildroot
5. cp configs/cortexm3-defconfig-nxflat .config
6. make oldconfig
7. make
8. Edit setenv.h, if necessary, so that the PATH variable includes
the path to the newly builtNXFLAT binaries.
TWR-K64F120M-specific Configuration Options
==========================================
CONFIG_ARCH - Identifies the arch/ subdirectory. This sould
be set to:
CONFIG_ARCH=arm
CONFIG_ARCH_family - For use in C code:
CONFIG_ARCH_ARM=y
CONFIG_ARCH_architecture - For use in C code:
CONFIG_ARCH_CORTEXM4=y
CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
CONFIG_ARCH_CHIP=kinetis
CONFIG_ARCH_CHIP_name - For use in C code to identify the exact
chip:
CONFIG_ARCH_CHIP_MK64FN1M0VMD12=y
CONFIG_ARCH_BOARD - Identifies the configs subdirectory and
hence, the board that supports the particular chip or SoC.
CONFIG_ARCH_BOARD=twr-k64f120m (for the TWR-K64F120M development board)
CONFIG_ARCH_BOARD_name - For use in C code
CONFIG_ARCH_BOARD_TWR_K64F120M=y
CONFIG_ENDIAN_BIG - define if big endian (default is little
endian)
CONFIG_RAM_SIZE - Describes the installed DRAM (SRAM in this case):
CONFIG_RAM_SIZE=262144 (256Kb)
CONFIG_RAM_START - The start address of installed DRAM
CONFIG_RAM_START=0x1fff0000
CONFIG_ARCH_LEDS - Use LEDs to show state. Unique to boards that
have LEDs
CONFIG_ARCH_LEDS=y
CONFIG_ARCH_INTERRUPTSTACK - This architecture supports an interrupt
stack. If defined, this symbol is the size of the interrupt
stack in bytes. If not defined, the user task stacks will be
used during interrupt handling.
CONFIG_ARCH_STACKDUMP - Do stack dumps after assertions
CONFIG_ARCH_CALIBRATION - Enables some build in instrumentation that
cause a 100 second delay during boot-up. This 100 second delay
serves no purpose other than it allows you to calibratre
CONFIG_ARCH_LOOPSPERMSEC. You simply use a stop watch to measure
the 100 second delay then adjust CONFIG_ARCH_LOOPSPERMSEC until
the delay actually is 100 seconds.
Individual subsystems can be enabled:
CONFIG_KINETIS_TRACE -- Enable trace clocking on power up.
CONFIG_KINETIS_FLEXBUS -- Enable flexbus clocking on power up.
CONFIG_KINETIS_UART0 -- Support UART0
CONFIG_KINETIS_UART1 -- Support UART1
CONFIG_KINETIS_UART2 -- Support UART2
CONFIG_KINETIS_UART3 -- Support UART3
CONFIG_KINETIS_UART4 -- Support UART4
CONFIG_KINETIS_UART5 -- Support UART5
CONFIG_KINETIS_ENET -- Support Ethernet (K60 only)
CONFIG_KINETIS_RNGB -- Support the random number generator(K60 only)
CONFIG_KINETIS_FLEXCAN0 -- Support FlexCAN0
CONFIG_KINETIS_FLEXCAN1 -- Support FlexCAN1
CONFIG_KINETIS_SPI0 -- Support SPI0
CONFIG_KINETIS_SPI1 -- Support SPI1
CONFIG_KINETIS_SPI2 -- Support SPI2
CONFIG_KINETIS_I2C0 -- Support I2C0
CONFIG_KINETIS_I2C1 -- Support I2C1
CONFIG_KINETIS_I2S -- Support I2S
CONFIG_KINETIS_DAC0 -- Support DAC0
CONFIG_KINETIS_DAC1 -- Support DAC1
CONFIG_KINETIS_ADC0 -- Support ADC0
CONFIG_KINETIS_ADC1 -- Support ADC1
CONFIG_KINETIS_CMP -- Support CMP
CONFIG_KINETIS_VREF -- Support VREF
CONFIG_KINETIS_SDHC -- Support SD host controller
CONFIG_KINETIS_FTM0 -- Support FlexTimer 0
CONFIG_KINETIS_FTM1 -- Support FlexTimer 1
CONFIG_KINETIS_FTM2 -- Support FlexTimer 2
CONFIG_KINETIS_LPTIMER -- Support the low power timer
CONFIG_KINETIS_RTC -- Support RTC
CONFIG_KINETIS_SLCD -- Support the segment LCD (K60 only)
CONFIG_KINETIS_EWM -- Support the external watchdog
CONFIG_KINETIS_CMT -- Support Carrier Modulator Transmitter
CONFIG_KINETIS_USBOTG -- Support USB OTG (see also CONFIG_USBHOST and CONFIG_USBDEV)
CONFIG_KINETIS_USBDCD -- Support the USB Device Charger Detection module
CONFIG_KINETIS_LLWU -- Support the Low Leakage Wake-Up Unit
CONFIG_KINETIS_TSI -- Support the touch screeen interface
CONFIG_KINETIS_FTFL -- Support FLASH
CONFIG_KINETIS_DMA -- Support DMA
CONFIG_KINETIS_CRC -- Support CRC
CONFIG_KINETIS_PDB -- Support the Programmable Delay Block
CONFIG_KINETIS_PIT -- Support Programmable Interval Timers
CONFIG_ARM_MPU -- Support the MPU
Kinetis interrupt priorities (Default is the mid priority). These should
not be set because they can cause unhandled, nested interrupts. All
interrupts need to be at the default priority in the current design.
CONFIG_KINETIS_UART0PRIO
CONFIG_KINETIS_UART1PRIO
CONFIG_KINETIS_UART2PRIO
CONFIG_KINETIS_UART3PRIO
CONFIG_KINETIS_UART4PRIO
CONFIG_KINETIS_UART5PRIO
CONFIG_KINETIS_EMACTMR_PRIO
CONFIG_KINETIS_EMACTX_PRIO
CONFIG_KINETIS_EMACRX_PRIO
CONFIG_KINETIS_EMACMISC_PRIO
CONFIG_KINETIS_SDHC_PRIO
PIN Interrupt Support
CONFIG_KINETIS_GPIOIRQ -- Enable pin interrupt support. Also needs
one or more of the following:
CONFIG_KINETIS_PORTAINTS -- Support 32 Port A interrupts
CONFIG_KINETIS_PORTBINTS -- Support 32 Port B interrupts
CONFIG_KINETIS_PORTCINTS -- Support 32 Port C interrupts
CONFIG_KINETIS_PORTDINTS -- Support 32 Port D interrupts
CONFIG_KINETIS_PORTEINTS -- Support 32 Port E interrupts
Kinetis specific device driver settings
CONFIG_UARTn_SERIAL_CONSOLE - selects the UARTn (n=0..5) for the
console and ttys0 (default is the UART0).
CONFIG_UARTn_RXBUFSIZE - Characters are buffered as received.
This specific the size of the receive buffer
CONFIG_UARTn_TXBUFSIZE - Characters are buffered before
being sent. This specific the size of the transmit buffer
CONFIG_UARTn_BAUD - The configure BAUD of the UART.
CONFIG_UARTn_BITS - The number of bits. Must be either 8 or 8.
CONFIG_UARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity
Kenetis ethernet controller settings
CONFIG_ENET_NRXBUFFERS - Number of RX buffers. The size of one
buffer is determined by CONFIG_NET_ETH_MTU. Default: 6
CONFIG_ENET_NTXBUFFERS - Number of TX buffers. The size of one
buffer is determined by CONFIG_NET_ETH_MTU. Default: 2
CONFIG_ENET_USEMII - Use MII mode. Default: RMII mode.
CONFIG_ENET_PHYADDR - PHY address
Configurations
==============
Each TWR-K64F120M configuration is maintained in a sub-directory and
can be selected as follow:
cd tools
./configure.sh twr-k64f120m/<subdir>
cd ..
. ./setenv.sh
Where <subdir> is one of the following:
nsh:
---
Configures the NuttShell (nsh) located at apps/examples/nsh. The
Configuration enables only the serial interface.
The serial console is on OpenSDA serial bridge. For access,
use $ miniterm.py -f direct /dev/ttyACM0 115200 from Linux PC
Support for the board's SDHC MicroSD card is included.
NOTES:
1. The SDHC driver is under work and currently support IRQ mode (no DMA):
CONFIG_KINETIS_SDHC=y : Enable the SDHC driver
CONFIG_MMCSD=y : Enable MMC/SD support
CONFIG_MMCSD_SDIO=y : Use the SDIO-based MMC/SD driver
CONFIG_MMCSD_NSLOTS=1 : One MMC/SD slot
CONFIG_FAT=y : Eable FAT file system
CONFIG_FAT_LCNAMES=n : FAT lower case name support
CONFIG_FAT_LFN=y : FAT long file name support
CONFIG_FAT_MAXFNAME=32 : Maximum length of a long file name
CONFIG_KINETIS_GPIOIRQ=y : Enable GPIO interrupts
CONFIG_KINETIS_PORTEINTS=y : Enable PortE GPIO interrupts
CONFIG_SCHED_WORKQUEUE=y : Enable the NuttX workqueue
CONFIG_NSH_ARCHINIT=y : Provide NSH initializeation logic
netnsh:
------
This is the same config then nsh, but it adds Ethernet support with the
TWR-SER card. It includes telnetd in order to access nsh from Ethernet.
IP address defaults to 192.168.0.233/24.
NOTES:
1. See networking support for application and especially for jumper setting.
In this config, this is TWR-SER that clocks the MCU.
2. The PHY link negotiation is done at boot time only. If no link is then
available, a fallback mode is used at 10Mbs/half-duplex. Please make sure
your ethernet cable and switches are on before booting.